def main():
global interface_drone_comm, IP_RX, UDP_Port_RX, fifo_write
parsedArgs = parsearguments()
interface_drone_comm = parsedArgs.interface_drone_comm
mode = parsedArgs.mode
IP_RX = parsedArgs.ip_rx
UDP_Port_RX = parsedArgs.udp_port_rx
frame_type = parsedArgs.frame_type
src = find_mac(interface_drone_comm)
comm_id = bytes([parsedArgs.comm_id])
print("DB_TEL_GROUND: Communication ID: " + str(comm_id))
dbprotocol = DBProtocol(src, UDP_Port_RX, IP_RX, 1606, b'\x01',
interface_drone_comm, mode, comm_id, frame_type,
b'\x02')
print("DB_TEL_GROUND: Opening /root/telemetryfifo1...")
fifo_write = open("/root/telemetryfifo1", "wb")
print("DB_TEL_GROUND: Opened /root/telemetryfifo1")
while True:
received = dbprotocol.receive_telemetryfromdrone()
if received != False:
try:
write_tofifos(received)
sent = dbprotocol.sendto_smartphone(received,
dbprotocol.APP_PORT_TEL)
# print("DB_TX_TEL: Sent "+str(sent)+" bytes to sp")
except Exception as e:
print(e)
def main():
global interface_drone_comm, IP_RX, UDP_Port_RX, UDP_PORT_ANDROID
parsedArgs = parsearguments()
interface_drone_comm = parsedArgs.interface_drone_comm
mode = parsedArgs.mode
IP_RX = parsedArgs.ip_rx
UDP_Port_RX = parsedArgs.udp_port_rx
UDP_PORT_ANDROID = parsedArgs.udp_port_android
frame_type = parsedArgs.frame_type
src = find_mac(interface_drone_comm)
extended_comm_id = bytes(
b'\x01' + b'\x01' +
bytearray.fromhex(parsedArgs.comm_id)) # <odd><direction><comm_id>
# print("DB_TX_Comm: Communication ID: " + comm_id.hex()) # only works in python 3.5+
print("DB_TX_Comm: Communication ID: " + str(extended_comm_id))
dbprotocol = DBProtocol(src, dst, UDP_Port_RX, IP_RX, UDP_PORT_ANDROID,
b'\x01', interface_drone_comm, mode,
extended_comm_id, frame_type, b'\x04')
if mode == 'wifi':
dbprotocol.updateRouting()
last_keepalive = 0
while True:
last_keepalive = dbprotocol.process_smartphonerequests(
last_keepalive) # non-blocking
time.sleep(0.5)
def main():
global interface_drone_comm, IP_RX, UDP_Port_RX, UDP_PORT_ANDROID
parsedArgs = parsearguments()
interface_drone_comm = parsedArgs.interface_drone_comm
mode = parsedArgs.mode
IP_RX = parsedArgs.ip_rx
UDP_Port_RX = parsedArgs.udp_port_rx
UDP_PORT_ANDROID = parsedArgs.udp_port_android
comm_id = bytes([parsedArgs.comm_id])
print("DB_Comm_GROUND: Communication ID: " + str(comm_id))
dbprotocol = DBProtocol(UDP_Port_RX,
IP_RX,
UDP_PORT_ANDROID,
DBDir.DB_TO_UAV,
interface_drone_comm,
mode,
comm_id,
DBPort.DB_PORT_COMMUNICATION,
tag='DB_Comm_GROUND: ')
last_keepalive = 0
while True:
last_keepalive = dbprotocol.process_smartphonerequests(
last_keepalive) # non-blocking
time.sleep(0.5)
def main():
"""
Example of how to use the DroneBridge python lib to send & receive your custom data.
-- Run using root privileges! --
-- set interface_drone_comm to your wifi adapter! --
Run on ground station using the DroneBridge image. If used with EZ-WBC image you need to install some extra packages
python3. If not executed on DroneBridge/WBC rpi-image the wifi adapters must be in monitor mode and patched with
patches provided by EZ-WBC project.
:return:
"""
udp_port_rx = 5010 # relict - set to some free port - not used
ip_rx = "192.168.2.2" # relict - set to something - not used
udp_port_smartphone = udp_port_rx # not used - choose any
comm_direction = DBDir.DB_TO_UAV # On ground station we want to send stuff to UAV (do not change)
interface_drone_comm = "000ee8dcaa2c" # Interface name of your wifi adapter (with DroneBridge & WBC it is the MAC)
mode = "m" # not used - tell him to use long range link and not wifi - wifi will be implemented in a later stage
communication_id = 201 # Must be same on ground and UAV - identifies a link - choose a number between 0-255
# Channel/packet identifier - must be the same on ground & UAV - ports 1-7 are already assigned
# - choose number from 8-255 in byte/hex format
dronebridge_port = b'\x08'
tag = 'MY_CUST_LINK: ' # Gets written in front of every message produced by DBProtocol class
db_protocol = DBProtocol(udp_port_rx,
ip_rx,
udp_port_smartphone,
comm_direction,
interface_drone_comm,
mode,
communication_id,
dronebridge_port,
tag=tag)
while True:
# receive a packet, parse it, get payload (pure bytes)
my_payload = db_protocol.receive_from_db(
custom_timeout=2) # return False if nothing received
# alternative:
# db_lr_socket = db_protocol.getcommsocket() # get the configured long range socket
# my_payload = db_protocol.parse_packet(bytearray(db_lr_socket.recv(2048)))
print("Got: " + str(my_payload) + " from the UAV!")
# Send something to your custom port:
my_new_payload = b'\x05\x05\x05\x06\x06\x07\x07\x01\x02\x03\x04\x05\x06\x07\x08\x09'
db_protocol.sendto_uav(my_new_payload, dronebridge_port)
print("Sent: " + str(my_new_payload) + " back the UAV!")
time.sleep(0.5)
def main():
global SerialPort, UDP_Port_TX, IP_TX
parsedArgs = parseArguments()
UDP_Port_TX = 1604
mode = parsedArgs.mode
frame_type = parsedArgs.frame_type
DB_INTERFACE = parsedArgs.DB_INTERFACE
src = find_mac(DB_INTERFACE)
comm_id = bytes([parsedArgs.comm_id])
# print("DB_TX_Comm: Communication ID: " + comm_id.hex()) # only works in python 3.5+
print("DB_RX_Comm: Communication ID: " + str(comm_id))
dbprotocol = DBProtocol(src, UDP_Port_TX, IP_TX, 0, b'\x03', DB_INTERFACE,
mode, comm_id, frame_type, b'\x04')
while True:
dbprotocol.receive_process_datafromgroundstation() # blocking
def main():
global SerialPort, UDP_Port_TX, IP_TX
parsedArgs = parseArguments()
SerialPort = parsedArgs.serialport
UDP_Port_TX = parsedArgs.udp_port_tx
istelemetryenabled = False
if parsedArgs.enable_telemetry == "yes":
istelemetryenabled = True
mode = parsedArgs.mode
frame_type = parsedArgs.frame_type
DB_INTERFACE = parsedArgs.DB_INTERFACE
src = find_mac(DB_INTERFACE)
comm_id = bytes(b'\x01' + b'\x02' + bytearray.fromhex(parsedArgs.comm_id))
# print("DB_RX_TEL: Communication ID: " + comm_id.hex()) # only works in python 3.5
print("DB_RX_TEL: Communication ID: " + str(comm_id))
dbprotocol = DBProtocol(src, dst, UDP_Port_TX, IP_TX, 0, b'\x02',
DB_INTERFACE, mode, comm_id, frame_type, b'\x02')
if istelemetryenabled:
tel_sock = openFCTel_Socket()
time.sleep(0.3)
while True:
# Test
# LTM_Frame = b'$TA\x00\x00\x01\x00\xf0\x00\xf1'
# dbprotocol.sendto_groundstation(LTM_Frame, b'\x02')
# time.sleep(1)
# Test end
if istelemetryenabled:
if tel_sock.read() == b'$':
tel_sock.read() # next one is always a 'T' (do not care)
LTM_Frame = read_LTM_Frame(tel_sock.read(), tel_sock)
dbprotocol.sendto_groundstation(LTM_Frame, b'\x02')
# create DroneBridgeFrame and send
if LTM_Frame[
2] == 83: # int("53", 16) --> 0x53 = S in UTF-8 --> sending frame after each status frame
dbprotocol.send_dronebridge_frame()
dbprotocol.receive_process_datafromgroundstation(
) # to get the beacon frame and its RSSI values
if not istelemetryenabled:
# DroneBridge LTM Frame is triggered from LTM origin frame. If telemetry is "no" we need to change trigger
dbprotocol.send_dronebridge_frame()
time.sleep(0.2)
def main():
global SerialPort, UDP_Port_TX, IP_TX
parsedArgs = parseArguments()
UDP_Port_TX = parsedArgs.udp_port_tx
mode = parsedArgs.mode
frame_type = parsedArgs.frame_type
DB_INTERFACE = parsedArgs.DB_INTERFACE
src = find_mac(DB_INTERFACE)
extended_comm_id = bytes(
b'\x01' + b'\x02' +
bytearray.fromhex(parsedArgs.comm_id)) # <odd><direction><comm_id>
# print("DB_TX_Comm: Communication ID: " + comm_id.hex()) # only works in python 3.5+
print("DB_RX_Comm: Communication ID: " + str(extended_comm_id))
dbprotocol = DBProtocol(src, dst, UDP_Port_TX, IP_TX, 0, b'\x02',
DB_INTERFACE, mode, extended_comm_id, frame_type,
b'\x04')
#setupVideo(mode)
#time.sleep(2)
while True:
dbprotocol.receive_process_datafromgroundstation() # blocking
def main():
global interface_drone_comm, IP_RX, UDP_Port_RX, UDP_PORT_ANDROID
parsedArgs = parsearguments()
interface_drone_comm = parsedArgs.interface_drone_comm
mode = parsedArgs.mode
IP_RX = parsedArgs.ip_rx
UDP_Port_RX = parsedArgs.udp_port_rx
UDP_PORT_ANDROID = parsedArgs.udp_port_android
src = find_mac(interface_drone_comm)
comm_id = bytes([parsedArgs.comm_id])
print("DB_Comm_GROUND: Communication ID: " + str(comm_id))
dbprotocol = DBProtocol(src, UDP_Port_RX, IP_RX, UDP_PORT_ANDROID, b'\x01',
interface_drone_comm, mode, comm_id, b'\x04')
last_keepalive = 0
while True:
last_keepalive = dbprotocol.process_smartphonerequests(
last_keepalive) # non-blocking
time.sleep(0.5)
def main():
global SerialPort, UDP_Port_TX, IP_TX
parsedArgs = parseArguments()
UDP_Port_TX = 1604
mode = parsedArgs.mode
DB_INTERFACE = parsedArgs.DB_INTERFACE
comm_id = bytes([parsedArgs.comm_id])
# print("DB_TX_Comm: Communication ID: " + comm_id.hex()) # only works in python 3.5+
print("DB_Comm_Air: Communication ID: " + str(comm_id))
dbprotocol = DBProtocol(UDP_Port_TX,
IP_TX,
0,
DBDir.DB_TO_GND,
DB_INTERFACE,
mode,
comm_id,
DBPort.DB_PORT_COMMUNICATION,
tag='DB_Comm_Air: ')
while True:
dbprotocol.receive_process_datafromgroundstation() # blocking
def main():
global interface_drone_comm, IP_RX, UDP_Port_RX, fifo_write
parsedArgs = parsearguments()
interface_drone_comm = parsedArgs.interface_drone_comm
mode = parsedArgs.mode
IP_RX = parsedArgs.ip_rx
UDP_Port_RX = parsedArgs.udp_port_rx
frame_type = parsedArgs.frame_type
src = find_mac(interface_drone_comm)
comm_id = bytes(b'\x01' + b'\x01' + bytearray.fromhex(parsedArgs.comm_id))
# print("DB_TX_TEL: Communication ID: " + comm_id.hex()) # only works in python 3.5
print("DB_TX_TEL: Communication ID: " + str(comm_id))
dbprotocol = DBProtocol(src, dst, UDP_Port_RX, IP_RX, 1606, b'\x01',
interface_drone_comm, mode, comm_id, frame_type,
b'\x02')
print("DB_TX_TEL: Opening /root/telemetryfifo1...")
fifo_write = open("/root/telemetryfifo1", "wb")
print("DB_TX_TEL: Opened /root/telemetryfifo1")
while True:
received = dbprotocol.receive_telemetryfromdrone()
#received= b'$TA\x00\x00\x01\x00\xf0\x00\xf1'
#time.sleep(0.15)
if received != False:
try:
if received[2] == 89: # int("59", 16)
received = dbprotocol.finish_dronebridge_ltmframe(received)
# send a beaconframe so drone telemetry can extract signal strength. MSP RSSI over AUX is also a option
# Then RSSI field in LTM would be set correctly. But RSSI would be in % which is worse compared to dbm
dbprotocol.send_beacon()
write_tofifos(received)
sent = dbprotocol.sendto_smartphone(
received, dbprotocol.LTM_PORT_SMARTPHONE)
#print("DB_TX_TEL: Sent "+str(sent)+" bytes to sp")
except Exception as e:
print(e)
def main():
global SerialPort, UDP_Port_TX, IP_TX
parsedArgs = parseArguments()
SerialPort = parsedArgs.serialport
UDP_Port_TX = parsedArgs.udp_port_tx
mode = parsedArgs.mode
DB_INTERFACE = parsedArgs.DB_INTERFACE
telemetry_selection_auto = False
isLTMTel = True
if parsedArgs.telemetry_type == "mavlink":
isLTMTel = False
elif parsedArgs.telemetry_type == "auto":
telemetry_selection_auto = True
isLTMTel = False
comm_id = bytes([parsedArgs.comm_id])
# print("DB_TEL_AIR: Communication ID: " + comm_id.hex()) # only works in python 3.5
print("DB_TEL_AIR: Communication ID: " + str(comm_id))
dbprotocol = DBProtocol(UDP_Port_TX,
IP_TX,
0,
DBDir.DB_TO_GND,
DB_INTERFACE,
mode,
comm_id,
DBPort.DB_PORT_TELEMETRY,
tag='DB_TEL_AIR: ')
tel_sock = openFCTel_Socket(parsedArgs.baudrate)
time.sleep(0.3)
if telemetry_selection_auto:
isLTMTel = isitLTM_telemetry(tel_sock)
time.sleep(0.3)
while True:
if isLTMTel:
if tel_sock.read() == b'$':
tel_sock.read() # next one is always a 'T' (do not care)
LTM_Frame = read_LTM_Frame(tel_sock.read(), tel_sock)
dbprotocol.sendto_groundstation(LTM_Frame, b'\x02')
else:
# it is not LTM --> fully transparent link for MavLink and other protocols
dbprotocol.sendto_groundstation(tel_sock.read(MavLink_chunksize),
b'\x02')